Over the years I have had all three types of drives.
For street use I prefer belt drive. My 08 Buell XB12Ss belt never needed any attention from 2008 to 2021 aside from a visual inspection every 3,000 miles when I did an oil change. Down side is that belts can be damaged if not properly protected or used off-road. Also changing gear ratios is expensive if even possible.
My old '92 Suzuki 1100F Katana was hard on chains, in spite of much cleaning, oiling, and adjustment as per manual I went through several chains and sprockets over the years. Maybe it was under spec'd? On the other hand my warmed over 2010 Triumph Thruxton 800 chain is still good in 2021 with just an occasional clean and lube and rarely needs a chain adjustment done during oil changes.
I have had 3 BMW bikes, 2 airheads and one "K" bike. All require regular oil servicing of the shaft drive and occasional spline inspections and grease. If they break or wear out, it gets expensive and can not be fixed on the side of the road like a chain or belt.
So my take is for all around street use on a stock bike belt drive is the winner. For off road or racing the chain is best. Chain also works well for lower powered bikes like my Thruxton at around 70 HP or less.
For heavy duty touring I would give the nod to shaft drive but being aware that regular inspections and oil changes are crucial and be prepared for the odd but expensive repair cost.